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Iterative Learning Control (ILC): Cogging torque reduction


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A question regarding ILC functionality:


We use direct PWM (current loop closure) control, and while the control external to the PMAC is position based, position error is reflected only in varying current (effective torque) commands to the PMAC.


We would like to use the ILC with torque comp tables to reduce cogging, however given we are not using position control, we wondered how the motors will be commanded when ILC is active (or where the position error is derived from?). Does activating ILC engage position/servo control only for the time it is active in the IDE, or is it simply not possible to use the ILC with digital current loop closure?



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